Please use this identifier to cite or link to this item: https://hdl.handle.net/10216/115901
Author(s): Rui Gomes
Fernando Lobo Pereira
Title: A General Attainable-Set Model Predictive Control Scheme. Application to AUV Operations
Issue Date: 2018-10-15
Abstract: In this article, a Model Predictive Control (MPC) scheme that, by taking advantage of the control problem time invariant ingredients, replaces as much as possible the on-line computational burden of the conventional schemes, by off-line computation, is presented and its asymptotic stability shown. The generated data is stored onboard in look-up tables and recruited and adapted on-line with small computation effort according to the real-time context specified by communicated or sensed data. This scheme is particularly important to the increasing range of applications exhibiting severe real-time constraints. The approach presented here provides a better re-conciliation of onboard resources optimization with state feedback control - to deal with the typical a priori high uncertainty - while managing the formation with a low computational budget which otherwise might have a significant impact in power consumption.
URI: https://hdl.handle.net/10216/115901
Source: IFAC PAPERSONLINE
Document Type: Artigo em Livro de Atas de Conferência Internacional
Rights: openAccess
Appears in Collections:FEUP - Artigo em Livro de Atas de Conferência Internacional

Files in This Item:
File Description SizeFormat 
289703.pdfCAO 2018603.04 kBAdobe PDFView/Open


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.